[ODE] dJointSetBodyForceScale (Was: AMotor query )

Mark Williams mark at image-engine.com
Mon Nov 26 14:59:24 MST 2007

Mark Williams wrote:
>> Did you consider connecting them to the environment using fixed joints?
> I believe that because the environment is static then the contact joints 
> still won't be receiving any velocity information about the
> non-dynamic body. In the end I've decided to patch ODE so that I can 
> scale the forces/torques applied to either body by a paritcular joint. 
> Currently I have a function:
> dJointSetBodyForceScale( dJoint joint, dReal body1scale, dReal body2scale )
> So when attaching a contact joint I can just set the scale to 0.0 for 
> the body I wish to remain unchanged by the simulation. I'll probably 
> extend this so that the forces and torques can be scaled independently.
> If anybody is interested in this, or has any suggestions as to how it 
> could be improved then let me know, and I'll submit a patch to Sourceforge.

I've just put this patch up into the sourceforge tracker, ID 1839013.


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